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Separate message for trajectory setpoint

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This commit is contained in:
Matthias Grob
2022-05-12 17:19:48 +02:00
parent 9166b6953d
commit 8ca28f3796
41 changed files with 126 additions and 137 deletions
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src/modules/mc_pos_control/PositionControl/PositionControl.cpp
-1
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@@ -246,7 +246,6 @@ void PositionControl::getLocalPositionSetpoint(vehicle_local_position_setpoint_s
local_position_setpoint.vy = _vel_sp(1);
local_position_setpoint.vz = _vel_sp(2);
_acc_sp.copyTo(local_position_setpoint.acceleration);
nans<3, 1>().copyTo(local_position_setpoint.jerk);
_thr_sp.copyTo(local_position_setpoint.thrust);
}
src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp
-1
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@@ -52,7 +52,6 @@ TEST(PositionControlTest, EmptySetpoint)
EXPECT_FLOAT_EQ(output_setpoint.vy, 0.f);
EXPECT_FLOAT_EQ(output_setpoint.vz, 0.f);
EXPECT_EQ(Vector3f(output_setpoint.acceleration), Vector3f(0.f, 0.f, 0.f));
EXPECT_EQ(Vector3f(output_setpoint.jerk), Vector3f(NAN, NAN, NAN));
EXPECT_EQ(Vector3f(output_setpoint.thrust), Vector3f(0, 0, 0));
vehicle_attitude_setpoint_s attitude{};